Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By : Lentin Joseph, Jonathan Cacace
Book Image

Mastering ROS for Robotics Programming, Third edition - Third Edition

By: Lentin Joseph, Jonathan Cacace

Overview of this book

The Robot Operating System (ROS) is a software framework used for programming complex robots. ROS enables you to develop software for building complex robots without writing code from scratch, saving valuable development time. Mastering ROS for Robotics Programming provides complete coverage of the advanced concepts using easy-to-understand, practical examples and step-by-step explanations of essential concepts that you can apply to your ROS robotics projects. The book begins by helping you get to grips with the basic concepts necessary for programming robots with ROS. You'll then discover how to develop a robot simulation, as well as an actual robot, and understand how to apply high-level capabilities such as navigation and manipulation from scratch. As you advance, you'll learn how to create ROS controllers and plugins and explore ROS's industrial applications and how it interacts with aerial robots. Finally, you'll discover best practices and methods for working with ROS efficiently. By the end of this ROS book, you'll have learned how to create various applications in ROS and build your first ROS robot.
Table of Contents (22 chapters)
1
Section 1 – ROS Programming Essentials
4
Section 2 – ROS Robot Simulation
11
Section 3 – ROS Robot Hardware Prototyping
15
Section 4 – Advanced ROS Programming

Summary

In this chapter, we explored some advanced features of MoveIt!, showing how to write C++ code to control simulated and real robotic manipulators. The chapter started with a discussion on collision checking using MoveIt!. We saw how to add a collision object using MoveIt! APIs, and saw the direct importing of mesh to the planning scene. We discussed a ROS node to check collision using MoveIt! APIs. After learning about collisions, we moved to perception using MoveIt!. We connected the simulated point-cloud data to MoveIt! and created an octomap in MoveIt!. After discussing these aspects, we switched to hardware interfacing of MoveIt! using DYNAMIXEL servos and its ROS controllers. In the end, we saw a real robotic arm called COOL arm and its interfacing to MoveIt!, which was completely built using DYNAMIXEL controllers. In the next chapter, we will discuss another kind of robotic platform, aerial robots, and how to integrate and program them using ROS.

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